New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
The implementation of particle filtering tracker #2
Merged
Merged
Changes from all commits
Commits
File filter
Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,2 +1,2 @@ | ||
set(the_description "Tracking API") | ||
ocv_define_module(tracking opencv_imgproc) | ||
ocv_define_module(tracking opencv_imgproc opencv_optim) |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,219 @@ | ||
#include "opencv2/optim.hpp" | ||
#include "opencv2/core/core_c.h" | ||
#include <algorithm> | ||
#include <typeinfo> | ||
#include <cmath> | ||
#define WEIGHTED | ||
|
||
namespace cv{ | ||
|
||
//!particle filtering class | ||
class PFSolver : public optim::Solver{ | ||
public: | ||
class Function : public optim::Solver::Function | ||
{ | ||
public: | ||
//!if parameters have no sense due to some reason (e.g. lie outside of function domain), this function "corrects" them, | ||
//!that is brings to the function domain | ||
virtual void correctParams(double* /*optParams*/)const{} | ||
//!is used when there is a dependence on the number of iterations done in calc(), note that levels are counted starting from 1 | ||
virtual void setLevel(int /*level*/, int /*levelsNum*/){} | ||
}; | ||
PFSolver(); | ||
void getOptParam(OutputArray params)const; | ||
int iteration(); | ||
double minimize(InputOutputArray x); | ||
|
||
void setParticlesNum(int num); | ||
int getParticlesNum(); | ||
void setAlpha(double AlphaM); | ||
double getAlpha(); | ||
void getParamsSTD(OutputArray std)const; | ||
void setParamsSTD(InputArray std); | ||
|
||
Ptr<optim::Solver::Function> getFunction() const; | ||
void setFunction(const Ptr<Solver::Function>& f); | ||
TermCriteria getTermCriteria() const; | ||
void setTermCriteria(const TermCriteria& termcrit); | ||
private: | ||
Mat_<double> _std,_particles,_logweight; | ||
Ptr<Solver::Function> _Function; | ||
PFSolver::Function* _real_function; | ||
TermCriteria _termcrit; | ||
int _maxItNum,_iter,_particlesNum; | ||
double _alpha; | ||
inline void normalize(Mat_<double>& row); | ||
RNG rng; | ||
}; | ||
|
||
CV_EXPORTS_W Ptr<PFSolver> createPFSolver(const Ptr<optim::Solver::Function>& f=Ptr<optim::Solver::Function>(),InputArray std=Mat(), | ||
TermCriteria termcrit=TermCriteria(TermCriteria::MAX_ITER,5,0.0),int particlesNum=100,double alpha=0.6); | ||
|
||
PFSolver::PFSolver(){ | ||
_Function=Ptr<Solver::Function>(); | ||
_real_function=NULL; | ||
_std=Mat_<double>(); | ||
rng=RNG(getTickCount()); | ||
} | ||
void PFSolver::getOptParam(OutputArray params)const{ | ||
params.create(1,_std.rows,CV_64FC1); | ||
Mat mat(1,_std.rows,CV_64FC1); | ||
#ifdef WEIGHTED | ||
mat.setTo(0.0); | ||
for(int i=0;i<_particles.rows;i++){ | ||
mat+=_particles.row(i)/exp(-_logweight(0,i)); | ||
} | ||
_real_function->correctParams((double*)mat.data); | ||
mat.copyTo(params); | ||
#else | ||
params.create(1,_std.rows,CV_64FC1); | ||
Mat optimus=_particles.row(std::max_element(_logweight.begin(),_logweight.end())-_logweight.begin()); | ||
_real_function->correctParams(optimus.data); | ||
optimus.copyTo(params); | ||
#endif | ||
} | ||
int PFSolver::iteration(){ | ||
if(_iter>=_maxItNum){ | ||
return _maxItNum+1; | ||
} | ||
|
||
_real_function->setLevel(_iter+1,_maxItNum); | ||
|
||
//perturb | ||
for(int j=0;j<_particles.cols;j++){ | ||
double sigma=_std(0,j); | ||
for(int i=0;i<_particles.rows;i++){ | ||
_particles(i,j)+=rng.gaussian(sigma); | ||
} | ||
} | ||
|
||
//measure | ||
for(int i=0;i<_particles.rows;i++){ | ||
_real_function->correctParams((double*)_particles.row(i).data); | ||
_logweight(0,i)=-(_real_function->calc((double*)_particles.row(i).data)); | ||
} | ||
//normalize | ||
normalize(_logweight); | ||
//replicate | ||
Mat_<double> new_particles(_particlesNum,_std.cols); | ||
int num_particles=0; | ||
for(int i=0;i<_particles.rows;i++){ | ||
int num_replicons=cvFloor(new_particles.rows/exp(-_logweight(0,i))); | ||
for(int j=0;j<num_replicons;j++,num_particles++){ | ||
_particles.row(i).copyTo(new_particles.row(num_particles)); | ||
} | ||
} | ||
Mat_<double> maxrow=_particles.row(std::max_element(_logweight.begin(),_logweight.end())-_logweight.begin()); | ||
for(;num_particles<new_particles.rows;num_particles++){ | ||
maxrow.copyTo(new_particles.row(num_particles)); | ||
} | ||
|
||
if(_particles.rows!=new_particles.rows){ | ||
_particles=new_particles; | ||
}else{ | ||
new_particles.copyTo(_particles); | ||
} | ||
_std=_std*_alpha; | ||
_iter++; | ||
return _iter; | ||
} | ||
double PFSolver::minimize(InputOutputArray x){ | ||
CV_Assert(_Function.empty()==false); | ||
CV_Assert(_std.rows==1 && _std.cols>0); | ||
Mat mat_x=x.getMat(); | ||
CV_Assert(mat_x.type()==CV_64FC1 && MIN(mat_x.rows,mat_x.cols)==1 && MAX(mat_x.rows,mat_x.cols)==_std.cols); | ||
|
||
_iter=0; | ||
_particles=Mat_<double>(_particlesNum,_std.cols); | ||
if(mat_x.rows>1){ | ||
mat_x=mat_x.t(); | ||
} | ||
for(int i=0;i<_particles.rows;i++){ | ||
mat_x.copyTo(_particles.row(i)); | ||
} | ||
|
||
_logweight.create(1,_particles.rows); | ||
_logweight.setTo(-log(_particles.rows)); | ||
return 0.0; | ||
} | ||
|
||
void PFSolver::setParticlesNum(int num){ | ||
CV_Assert(num>0); | ||
_particlesNum=num; | ||
} | ||
int PFSolver::getParticlesNum(){ | ||
return _particlesNum; | ||
} | ||
void PFSolver::setAlpha(double AlphaM){ | ||
CV_Assert(0<AlphaM && AlphaM<=1); | ||
_alpha=AlphaM; | ||
} | ||
double PFSolver::getAlpha(){ | ||
return _alpha; | ||
} | ||
Ptr<optim::Solver::Function> PFSolver::getFunction() const{ | ||
return _Function; | ||
} | ||
void PFSolver::setFunction(const Ptr<optim::Solver::Function>& f){ | ||
CV_Assert(f.empty()==false); | ||
|
||
Ptr<Solver::Function> non_const_f(f); | ||
Solver::Function* f_ptr=static_cast<Solver::Function*>(non_const_f); | ||
|
||
PFSolver::Function *pff=dynamic_cast<PFSolver::Function*>(f_ptr); | ||
CV_Assert(pff!=NULL); | ||
_Function=f; | ||
_real_function=pff; | ||
} | ||
TermCriteria PFSolver::getTermCriteria() const{ | ||
return TermCriteria(TermCriteria::MAX_ITER,_maxItNum,0.0); | ||
} | ||
void PFSolver::setTermCriteria(const TermCriteria& termcrit){ | ||
CV_Assert(termcrit.type==TermCriteria::MAX_ITER && termcrit.maxCount>0); | ||
_maxItNum=termcrit.maxCount; | ||
} | ||
void PFSolver::getParamsSTD(OutputArray std)const{ | ||
std.create(1,_std.cols,CV_64FC1); | ||
_std.copyTo(std); | ||
} | ||
void PFSolver::setParamsSTD(InputArray std){ | ||
Mat m=std.getMat(); | ||
CV_Assert(MIN(m.cols,m.rows)==1 && m.type()==CV_64FC1); | ||
int ndim=MAX(m.cols,m.rows); | ||
if(ndim!=_std.cols){ | ||
_std=Mat_<double>(1,ndim); | ||
} | ||
if(m.rows==1){ | ||
m.copyTo(_std); | ||
}else{ | ||
Mat std_t=Mat_<double>(ndim,1,(double*)_std.data); | ||
m.copyTo(std_t); | ||
} | ||
} | ||
|
||
Ptr<PFSolver> createPFSolver(const Ptr<optim::Solver::Function>& f,InputArray std,TermCriteria termcrit,int particlesNum,double alpha){ | ||
Ptr<PFSolver> ptr(new PFSolver()); | ||
|
||
if(f.empty()==false){ | ||
ptr->setFunction(f); | ||
} | ||
Mat mystd=std.getMat(); | ||
if(mystd.cols!=0 || mystd.rows!=0){ | ||
ptr->setParamsSTD(std); | ||
} | ||
ptr->setTermCriteria(termcrit); | ||
ptr->setParticlesNum(particlesNum); | ||
ptr->setAlpha(alpha); | ||
return ptr; | ||
} | ||
void PFSolver::normalize(Mat_<double>& row){ | ||
double logsum=0.0; | ||
double max=*(std::max_element(row.begin(),row.end())); | ||
row-=max; | ||
for(int i=0;i<row.cols;i++){ | ||
logsum+=exp(row(0,i)); | ||
} | ||
logsum=log(logsum); | ||
row-=logsum; | ||
} | ||
} |
Oops, something went wrong.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
shouldn't that be an option instead of an ifdef ?